Spatial Mapping System For Autonomous Underwater Vehicles

David N. Oskard; Tsai-Hong Hong; Clifford A. Shaffer

doi:10.1117/12.948959

5 January 1989 Spatial Mapping System For Autonomous Underwater Vehicles

David N. Oskard, Tsai-Hong Hong, Clifford A. Shaffer

Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948959
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

As part of the Multiple Autonomous Underwater Vehicle (MAUV) project at the National Bureau of Standards, a spatial mapping system has been developed to provide a model of the underwater environment suitable for autonomous navigation. The system is composed of multi-resolution depth maps designed to integrate sensor data with an a priori model, an object/attribute database for storing information about detected objects, and a set of flags to monitor abnormal or emergency conditions in the environment. This paper describes the struc-ture of the mapping system and the algorithms used to map terrain and obstacles detected by acoustic sonar.

Citation Download Citation

David N. Oskard, Tsai-Hong Hong, and Clifford A. Shaffer "Spatial Mapping System For Autonomous Underwater Vehicles", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); https://doi.org/10.1117/12.948959

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